CN115856087A - Full-focusing imaging method based on longitudinal wave transmitting-receiving ultrasonic phased array probe - Google Patents
Full-focusing imaging method based on longitudinal wave transmitting-receiving ultrasonic phased array probe Download PDFInfo
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Abstract
The invention discloses a full-focusing imaging method based on a longitudinal wave one-shot oblique incidence wedge block, wherein a longitudinal wave one-shot oblique incidence wedge block is selected, a phased array probe is installed on the wedge block and is placed on the surface of a detected workpiece, and a rectangular coordinate system is established to determine and calculate position coordinates and an imaging area range of an array element. And then setting one phased array probe as a transmitting probe and one phased array probe as a receiving probe to acquire full matrix data. After the data acquisition is finished, an acoustic propagation model is established for a specific position in an imaging area, an acoustic propagation incident point at the interface of the wedge block and the workpiece is obtained according to the wedge block-workpiece interface coordinate, and then acoustic propagation time can be obtained according to the incident point position, the array element, the imaging area position coordinate and the sound velocity. And finally, performing time delay superposition operation on the acquired full matrix data in an imaging region, thereby realizing full focusing imaging based on the longitudinal wave transmitting-receiving ultrasonic phased array probe.
Description
Technical Field
The invention belongs to the field of ultrasonic nondestructive testing, and mainly relates to a full-focusing imaging method based on a longitudinal wave transmitting-receiving ultrasonic phased array probe.
Background
At present, in ultrasonic detection, a longitudinal wave transmitting-receiving oblique probe is used for detecting defects. 2 probes in the longitudinal wave transmitting-receiving oblique probe are inclined at an angle with a vertical plane separating the probes, the existence of the angle can cause the overlapping of ultrasonic waves of the 2 probes, the sound wave overlapping area can generate a sound field focusing area, a focusing effect is generated in the focusing area, the signal to noise ratio of the focusing area is increased, and compared with a common ultrasonic probe, the near surface blind area is smaller, and the interference of a surface echo signal cannot be caused. However, the probe of the existing common longitudinal wave one-shot-one-shot oblique probe is a single crystal probe, and although the detection effect is good, the defects cannot be visually characterized during detection.
The full-focusing imaging based on full-matrix acquisition can carry out visual reconstruction on the defects, and the high-quality imaging of the defects is realized by combining a longitudinal wave one-shot-one-oblique probe and full-focusing detection. The imaging is realized by replacing a single crystal probe in a longitudinal wave one-emitting-one-receiving oblique probe with a phased array probe and carrying out time-delay superposition on full matrix data acquired by the phased array probe. Because the use of the longitudinal wave one-shot-one-shot ultrasonic phased array probe can also deflect the sound beams, the sound beams are overlapped in a detected area to form a focusing area. And because the transmitting and receiving array elements are not on the same plane, the influence of interface waves on defect detection can be avoided during imaging. However, due to the use of the longitudinal wave transmit-receive phased array probe, sound propagates in a three-dimensional space and a layered interface exists, so that the calculation of a sound propagation path becomes more complex, and the image reconstruction becomes more difficult.
Disclosure of Invention
The invention aims to provide a full-focus imaging method based on a longitudinal wave transmit-receive ultrasonic phased array probe, which solves the problem of data full-focus reconstruction of longitudinal wave transmit-receive phased array probe full-matrix data acquisition.
The invention is realized by the following technical scheme: the full-focusing imaging method based on the longitudinal wave transmitting-receiving ultrasonic phased array probe comprises the following steps:
s1, establishing a three-dimensional coordinate position of a longitudinal wave transmitting-receiving ultrasonic phased array probe and determining an imaging area;
placing a longitudinal wave one-emitting one-receiving ultrasonic phased array probe and a wedge block on the surface of a detected workpiece in a combined manner, and according to a plurality of parameters, namely the inclination angle of the wedge block
Wedge block roof angle->
The method comprises the following steps of firstly, determining the center distance pitch between two adjacent array elements, secondly, determining the array element number N of a longitudinal wave transmitting-receiving ultrasonic phased array probe, thirdly, establishing an x-y-z rectangular coordinate system in a three-dimensional space by the center distance H between the first array element of the phased array probe and a wedge block and a workpiece interface and the distance d between the center of the array element and the center of a roof, and finally determining the imaging area as an x-0-z plane and an i coordinate (T coordinate) of any transmitting array element xi ,T yi ,T zi ) And arbitrary receiving array element j coordinate (R) xj ,R yj ,R zj ) And acquiring full matrix data by using a longitudinal wave transmitting-receiving ultrasonic phased array probe, and recording the full matrix data as S ij ；
S2, calculating the sound propagation time of the full-focus image reconstruction based on the longitudinal wave one-emitting one-receiving ultrasonic phased array probe;
calculating the sound propagation time from any transmitting array element i to different position points of a wedge-workpiece interface and then to any point P of an imaging area according to the coordinate position of any transmitting array element i, the coordinate position of any receiving array element j and the coordinate of any point P (x, 0, z) of the imaging area, and taking the minimum value of the sound propagation time as the sound propagation time from any transmitting array element i to any point P;
calculating the sound propagation time from any point P to different position points of a wedge block-workpiece interface to any receiving array element j in the imaging area, and taking the minimum value of the sound propagation time as the sound propagation time from any point P to any receiving array element j;
s3, calculating the obtained sound propagation time to full matrix data S according to the S2 ij And performing time delay superposition beam forming to obtain a full-focusing imaging result based on the longitudinal wave transmitting-receiving ultrasonic phased array probe.
Further, S1, establishing a three-dimensional coordinate position of the longitudinal wave transmitting-receiving ultrasonic phased array probe and determining an imaging area, and specifically comprises the following steps:
s11, firstly, establishing an x-y-z rectangular coordinate system in a three-dimensional space according to a plurality of parameters of S1, wherein a perpendicular line is made from the central position of a first array element connecting line of a longitudinal wave transmitting and receiving ultrasonic phased array probe to a wedge block-workpiece interface, the intersection point position of the perpendicular line and the wedge block-workpiece interface is the position of a coordinate origin O, the x axis is the direction in which the number of array elements is increased by pointing the intersection line of the wedge block-workpiece interface and the wedge block central section, the y axis is the direction in which the normal of the wedge block central section points to the inside, and the z longitudinal axis is the direction in which the normal of the wedge block-workpiece interface points to the downside;
s12, calculating to obtain the coordinate position (T) of any transmitting array element i xi ,T yi ,T zi ) To calculate the j coordinate position (R) of any receiving array element xj ,R yj ,R zj ) The coordinates of any transmitting array element i are written as:
the j coordinates of any receiving array element are written as:
in the formula, T xi For any x-axis coordinate of the transmitting array element i, T yi Y-axis coordinate, T, of any transmit array element i zi Z-axis coordinate, R, of arbitrary transmit array element i xj X-axis coordinate, R, of any receiving array element j yj Y-axis coordinate, R, of any receiving array element j zj Is the z-axis coordinate of any receiving array element j, i is any transmitting array element, i is more than or equal to 1 and less than or equal to N, j is any receiving array element, and j is more than or equal to 1 and less than or equal to N;
s13, finally, taking a linear array ultrasonic phased array probe as a transmitting probe and taking a linear array ultrasonic phased array probe as a receiving probe to acquire full matrix data to obtain full matrix data S ij 。
Further, S2 calculates the acoustic propagation time based on the reconstruction of the full-focus image of the longitudinal wave transmit-receive ultrasonic phased array probe, specifically:
s21, during full-focus imaging, dividing a detected region into m multiplied by n imaging grid points by a two-dimensional plane x-0-z with a zero y-axis of an imaging region, wherein m represents the number of x-axis coordinate points of the imaging region, the interval between two points is dxp, n is the number of z-axis coordinate points of the imaging region, and the interval between two points is dzp;
s22, dividing the wedge block-workpiece interface into l x S grid points, wherein l represents the x-axis coordinate point number of the wedge block-workpiece interface, the interval between two points is dxs, S is the y-axis coordinate point number of the wedge block-workpiece interface, and the interval between two points is dys;
s23, assuming that the incident points of the transmitting sound beam and the receiving sound beam of the longitudinal wave transmitting-receiving ultrasonic phased array probe at the wedge block-workpiece interface are (V) Txi ,V Tyi ,V Tzi ) The exit point is (V) Rxj ,V Ryj ,V Rzj ) For any point P (x, 0, z) in the imaging area, l × s grid points of the wedge-workpiece interface are set as an acoustic propagation incident point and an acoustic propagation emergent point, namely, a point (V) Txi ,V Tyi 0) and point (V) Rxj ,V Ryj 0) is an array of l × s, and the position coordinate of any transmitting array element i is (T) xi ,T yi ,T zi ) And the position coordinate of any receiving array element j is (R) xj ,R yj ,R zj ) And circularly calculating the sound propagation time for different incidence points to obtain a sound propagation time data set { t ils Calculating the sound propagation time circularly for different exit points to obtain a sound propagation time data set { t } jls }：
In the formula, V Txi X-axis coordinate, V, of incident point at wedge-workpiece interface for transmission of ith transmitting array element Tyi Y-axis coordinate, V, of incident point at wedge-workpiece interface for transmission of ith transmitting array element Rxj Is the x-axis coordinate, V, of the exit point at the wedge-workpiece interface of the jth receiving array element Ryj X-axis coordinate of exit point at wedge-workpiece interface of jth receiving array element, c 1 Speed of sound at wedge, c 2 The sound velocity of sound waves in a medium is shown, x is the x-axis coordinate of any point P in an imaging area, and z is the z-axis coordinate of any point P in the imaging area;
taking the minimum value t in the formula (3) imin =min{t ils The actual sound propagation time of the ith transmitting array element transmitting to any point P (x, 0, z) of the imaging area is taken as the minimum value t in the formula (4) jmin =min{t jls The actual acoustic propagation time of the jth receiving array element for any point P (x, 0, z) of the imaging region is received;
s24, circularly calculating time delay of each array element in the N array elements and m multiplied by N imaging grid points in the imaging area, and storing the result as a data set { t } in a three-dimensional matrix m multiplied by N multiplied by N form i (m, n) } and { t } j (m, n) }, the acoustic propagation time t received by the jth array element is transmitted by the ith array element of m multiplied by n imaging grid points in the imaging area ij (x, z) is:
in the formula, t i (m, n) represents the acoustic propagation time of the m multiplied by n imaging point grids of the imaging area emitted by the ith array element; t is t j (m, n) represents the acoustic travel time of the m x n imaging point grids of the imaging region received by the jth array element.
Further, in S3, the sound propagation time obtained by calculation according to S2 is used for the full matrix data S ij And performing time delay superposition beam forming to obtain a full-focus imaging result based on a longitudinal wave transmitting-receiving ultrasonic phased array probe, which specifically comprises the following steps:
the sound propagation time t calculated by the design in S2 ij (x, z) pairs of the acquired full matrix data S ij And performing time delay superposition to obtain the amplitudes I (x, z) of all grid points in an imaging area, and realizing full-focusing imaging based on the longitudinal wave transmitting-receiving ultrasonic phased array probe.
Compared with the prior art, the invention has the following beneficial technical effects:
the method comprises the steps of selecting a longitudinal wave transmitting-receiving phased array probe, placing the phased array probe and a wedge block on a detected workpiece, establishing an x-y-z rectangular coordinate system in a three-dimensional space, calculating the coordinate position of each array element, and performing full-matrix acquisition by taking the phased array probe on one side as a transmitting array element and the phased array probe on one side as a receiving array element.
When the full matrix data is imaged, an acoustic propagation path needs to be analyzed, as the phased array probe is placed on the wedge block and is a double-layer medium, an incident point exists at an interface, an acoustic propagation distance can be obtained according to the coordinate of the incident point coordinate probe and the position coordinate of an imaging area, acoustic propagation time can be obtained according to the sound velocity, and finally, delay superposition processing is carried out on the collected full matrix data to complete image reconstruction.
The longitudinal wave transmitting-receiving ultrasonic phased array full-focusing imaging method has the advantages that a focusing area exists in an imaging area, the imaging effect in the focusing area is obviously improved, the signal to noise ratio of defect detection can be improved to a certain extent, and the influence of a near field area and surface echo can be avoided when two phased array wafers are not on the same cross section during imaging.
The method provided by the invention belongs to the field of ultrasonic nondestructive testing, is very suitable for improving the defect detection capability of nondestructive testing, and has good popularization and application prospects.
Drawings
FIG. 1 is a schematic diagram of a signal acquisition system according to the present invention;
wherein, 1 is a display, 2 is a host, 3 is an ultrasonic signal acquisition system, 4 is a panel, 5 is an ultrasonic phased array probe, 6 is a wedge block, and 7 is a detected workpiece;
FIG. 2 is a schematic view of the placement of the probe and wedge of the present invention;
FIG. 3 is a schematic view of a workpiece to be inspected according to the present invention;
FIG. 4 is a fully focused imaging diagram of a longitudinal wave transmit-receive ultrasonic phased array probe for detecting seven-hole defects of an aluminum test block by matching with a 5-degree roof angle wedge block.
Detailed Description
The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.
The invention provides a full-focusing imaging method based on a longitudinal wave transmitting-receiving ultrasonic phased array probe. A longitudinal wave one-emission one-receiving oblique incidence wedge block is selected, a probe is installed on the wedge block and placed on the surface of a detected workpiece 7, and an x-y-z rectangular coordinate system is established to determine and calculate the position coordinates of array elements and the range of an imaging area. The acquired data is full matrix data, namely, single array element of the transmitting probe transmits, and all array elements of the receiving probe receive echo signals. And determining the acoustic propagation path of single array element transmission and single array element reception for each imaging position according to the physical model of the wedge block, and calculating the acoustic propagation time. The full-focusing imaging of the longitudinal wave transmitting-receiving phased array probe is realized by carrying out time delay superposition on the acquired full-matrix data.
The detected workpiece in this embodiment is an aluminum test block with a side drilling defect, and the data acquisition and imaging process of the full-focusing imaging method based on the longitudinal wave transmit-receive ultrasonic phased array probe of the present invention is described in further detail below.
As shown in fig. 1, the experimental signal acquisition device includes a display 1, a host 2, an ultrasonic signal acquisition system 3, two ultrasonic phased array probes 5 and a wedge 6, and a panel 4 is disposed on the signal acquisition system 3. Wherein, the host 2 is respectively connected with the display 1 and the ultrasonic signal acquisition system 3. The panel 4 is provided with an upper interface and a lower interface, and the two ultrasonic phased array probes 5 are respectively connected with the two ultrasonic wave transmitting/receiving 32-channel interfaces on the panel 4. And the two linear array ultrasonic phased array probes are fixed on the wedge block 6.
Specifically, the ultrasonic phased array probe 5 is an ultrasonic phased array probe with the model number of L5L64-0.6 x 10-C77, the central frequency fs =5MHz, the number of array elements is 64, the central distance between the array elements is 0.6mm, the length of the array elements is 10mm, and the width of the array elements is 0.55mm. Two wedges are selected, as shown in figure 2, the height of the first array element of the wedge is 13.8mm, and the inclination angle of the wedge
At 18.5 deg., the roof angle of the wedge is->
Is 5 deg..
As shown in FIG. 3, the aluminum block had a length of 100mm, a width of 50mm and a height of 60mm. Transverse holes with the diameter of 2mm are manufactured at the positions with the embedding depths of 25mm, 30mm, 35mm, 40mm and 45mm of the aluminum block, and in the figure 3
2 denotes a hole having a diameter of 2mm and is numbered 1 to 5, respectively. The horizontal distance between the centers of the 5 transverse holes is 12.5mm, and the opening depth is 25mm. And then, a transmitting-receiving ultrasonic phased array probe 5 and a wedge block 6 are fixedly placed on an aluminum test block. The method comprises the following steps of carrying out data acquisition and post-processing imaging on the edge drilling defects of the drilling hole, and specifically comprising the following steps:
1) Firstly, setting detection parameters in a system control program of the display 1: the sampling frequency fs =62.5MHz, the number of transmitting/receiving array elements is 32, the transmitting voltage is 15V, the signal acquisition mode is full-matrix acquisition, namely, one phased array probe is controlled to be a transmitting array element, one phased array probe is controlled to be a receiving array element, the 1 st array element in the transmitting array element is firstly excited, the other phased array probe is a receiving probe, all array elements on the phased array probe receive ultrasonic signals transmitted by the 1 st array element, then, transmitting probe wafers are sequentially excited until all transmitting probe wafers are excited, after the acquisition parameters and the acquisition mode are determined, the probe is connected with a wedge block, wherein the 1 st array element is placed at the lower position, a coupling agent is coated to ensure complete bonding, then, the coupling agent is coated on an aluminum test block to be tested to place the probe and the wedge block, and the probe is moved to place the defect position in the range of a probe acoustic beam deflection area to carry out data acquisition;
2) Acquiring original data of longitudinal wave transmit-receive phased array full-focus imaging, wherein the original data is acquired in the step 1), a first array element in a transmitting probe transmits, when 32 array elements of a receiving probe receive, 32A scanning data can be acquired at the moment and recorded as S (10025, 32, 1), wherein 10025 is the number of sampling points, 32 is the number of receiving array elements, 1 is the 1 st array element to transmit ultrasonic waves, and then a transmitting probe wafer is sequentially excited to finally acquire a group of three-dimensional data S (10025, 32, 32);
3) Imaging coordinate system establishment and coordinate position calculation are then performed. As shown in FIG. 2, in a two-dimensional plane x-y-z, the position of an origin O is at the position of a first array element vertical to the intersection of a layered interface and a wedge center section, the x axis is the direction in which the intersection line of the wedge-workpiece interface and the wedge center section points to the increase of the number of array elements, the y axis is the direction in which the normal line of the wedge center section points to the inside, the z longitudinal axis is the direction in which the normal line of the wedge-workpiece interface points to the lower side, the imaging area is the wedge center plane, i.e. the two-dimensional plane in which the y axis is zero, two linear array phased array probes with the number of array elements of 32 are arranged on a wedge with the inclination angle and the roof angle of 18.5 degrees and 5 degrees respectively, wherein the first array element is arranged at the lower end, the distance between the centers of the array elements is assumed to be 0.6mm, the height between the center of the first array element and the wedge and the workpiece interface is assumed to be 13.8mm, the distance between the center of the bevel edge on the wedge middle coupling layer is assumed to be 8mm, and the sound velocity of sound in the wedge and the medium is 2337m/s and 6300m/s respectively. And the phased array probe positioned in the positive half area of the y axis is used as a transmitting probe, and the phased array probe positioned in the negative half area of the y axis is used as a receiving probe. Wherein the x-coordinate T of any transmit array element i xi = (i-1) × 0.6 × cos (18.5), y-axis coordinate T yi =13.8 × cos (18.5) and z-axis coordinate T zi =13.8+ (i-1) × 0.6 × sin (18.5). Wherein the x-coordinate R of any receiving array element j xj = (i-1) × 0.6 × cos (18.5), y-axis coordinate R yj =13.8 × cos (18.5) and z-axis coordinate R zj =13.8+ (i-1) × 0.6 × sin (18.5). Variable i =1:32 and j =1:32 respectively representing the serial numbers of any array element in the transmitting probe and the receiving probe, when the propagation time of the transmitting array element is firstly calculated, the array element coordinate is circularly calculated for any transmitting array element i, and three one-dimensional data sets { xarray } are obtained i }、{yarray i } and { zarray } i H, i =1, 2, \ 8230;, 32, which respectively represent x-axis coordinates, y-axis coordinates and z-axis coordinates of the transmitting array elements;
4) As shown in FIG. 2, the two-dimensional data sets are respectively recorded as { X ] by dividing the examined region into a plurality of imaging grid points mn }，{Z mn X-axis and z-axis coordinates of a grid in a detected region are respectively represented, variables m =64 and n =701 respectively represent the number of coordinates in the x-axis direction and the number of coordinates in the z-axis direction of the detected region, the x-axis interval is set to be 1mm, the z-axis interval is set to be 0.1mm, wherein, as shown in fig. 2, for an acoustic propagation path of an arbitrary point P (x, 0, z) of an imaging region, a plurality of grid points of a wedge-workpiece interface are divided into two-dimensional data sets, and the two-dimensional data sets are respectively represented as { XC ls }，{YC ls Represents the x-axis and y-axis coordinates of the wedge-workpiece interface grid, respectively, variables l =64 and s =150 represent the number of coordinate points in the x-axis direction and the number of coordinate points in the y-axis direction of the wedge-workpiece interface, respectively, the x-axis interval is set to be 1mm, the y-axis interval is set to be 0.1mm, and for any point P (x, 0, z) in the imaging area, the ith array element transmits the grid acoustic propagation time data set { t } for all wedge-workpiece interfaces ils The method is as follows:
in the formula, xarray i Representing the x-axis coordinate of the transmit array element i, yarray i The y-axis coordinate, zarray, of the transmitting array element i i Z-axis coordinate representing the transmit array element i, i =1, 2, \ 8230;, 32,xc ls X-axis coordinate, YC, representing the wedge-workpiece interface grid ls Respectively, the y-axis coordinate of the wedge-workpiece interface grid is shown, wherein the variable l =64 represents the number of coordinate points of the wedge-workpiece interface in the x-axis direction, and the variable s =150 represents the number of coordinate points of the wedge-workpiece interface in the y-axis direction.
Taking the minimum value t imin =min{t ils And the acoustic propagation time from the ith array element to the imaging region point P (x, 0, z). The delay is then computed cyclically for 32 elements and 64 × 701 grid points within the imaging region. The results are stored as a data set t in the form of a three-dimensional matrix 64 × 701 × 32 i (m, n) }, t in dataset i (m, n) represents the travel time of the imaging region 64 x 701 grid of imaging points of the ith array element.
Because the two array elements are symmetrical about the imaging region, the propagation time of the two probes is the same for any point P of the imaging region. At this time t j =t i Therefore, the transmitting-receiving array element pair of the target area imaging any point P has the acoustic propagation delay time t ij =t i +t j . Using calculated propagation time t ij And carrying out time delay superposition operation on the acquired full matrix data Sij to obtain the amplitudes I (x, z) of all the imaging area points.
Fig. 4 is a reconstructed longitudinal wave transmit-receive phased array full-focus detection image. All images were within a dynamic display range of 0 to-30 dB.
Where figure 4 is a graph of the results of imaging using wedges inclined at 18.5 deg. and a roof angle of 5 deg.. As can be seen from FIG. 4, the defect imaging amplitude of the defect imaging of five transverse through holes is large and the focusing effect is good. Therefore, the algorithm of the invention can realize the full-focusing imaging of the longitudinal wave transmitting-receiving phased array and can obviously detect the internal defects of the workpiece.
Claims (4)
1. The full-focusing imaging method based on the longitudinal wave transmitting-receiving ultrasonic phased array probe is characterized by comprising the following steps of:
s1, establishing a three-dimensional coordinate position of a longitudinal wave transmitting-receiving ultrasonic phased array probe and determining an imaging area;
placing a longitudinal wave one-emitting one-receiving ultrasonic phased array probe and a wedge block on the surface of a detected workpiece in a combined manner, and according to a plurality of parameters, namely the inclination angle of the wedge block
Wedge block roof angle->
The center distance pitch between two adjacent array elements, the array element number N of the longitudinal wave transmitting-receiving ultrasonic phased array probe, the height H between the center distance wedge block of the first array element of the phased array probe and a workpiece interface, and the distance d between the center of the array element and the center of a roofEstablishing an x-y-z rectangular coordinate system in a dimensional space, and determining an imaging area as an x-0-z plane and an arbitrary transmitting array element i coordinate (T) xi ,T yi ,T zi ) And arbitrary receiving array element j coordinate (R) xj ,R yj ,R zj ) And acquiring full matrix data by using a longitudinal wave transmitting-receiving ultrasonic phased array probe, and recording the full matrix data as S ij ；
S2, calculating the sound propagation time of the full-focus image reconstruction based on the longitudinal wave one-emitting one-receiving ultrasonic phased array probe;
calculating the sound propagation time from any transmitting array element i to different position points of a wedge-workpiece interface and then to any point P of an imaging area according to the coordinate position of any transmitting array element i, the coordinate position of any receiving array element j and the coordinate of any point P (x, 0, z) of the imaging area, and taking the minimum value of the sound propagation time as the sound propagation time from any transmitting array element i to any point P;
calculating the sound propagation time from any point P to different position points of a wedge block-workpiece interface to any receiving array element j in the imaging area, and taking the minimum value of the sound propagation time as the sound propagation time from any point P to any receiving array element j;
s3, calculating the sound propagation time obtained according to the S2 and corresponding to the full matrix data S ij And performing delay superposition beam forming to obtain a full-focus imaging result based on the longitudinal wave transmitting-receiving ultrasonic phased array probe.
2. The full-focusing imaging method based on the longitudinal wave transmit-receive ultrasonic phased array probe according to claim 1, characterized in that S1 establishes a three-dimensional coordinate position of the longitudinal wave transmit-receive ultrasonic phased array probe and determines an imaging area, and comprises the following specific steps:
s11, firstly, establishing an x-y-z rectangular coordinate system in a three-dimensional space according to a plurality of parameters of S1, wherein a perpendicular line is made from the central position of a first array element connecting line of a longitudinal wave transmitting and receiving ultrasonic phased array probe to a wedge block-workpiece interface, the intersection point position of the perpendicular line and the wedge block-workpiece interface is the position of a coordinate origin O, the x axis is the direction in which the number of array elements is increased by pointing the intersection line of the wedge block-workpiece interface and the wedge block central section, the y axis is the direction in which the normal of the wedge block central section points to the inside, and the z longitudinal axis is the direction in which the normal of the wedge block-workpiece interface points to the downside;
s12, calculating and obtaining the coordinate position (T) of any transmitting array element i xi ,T yi ,T zi ) To find the j coordinate position (R) of any receiving array element xj ,R yj ,R zj ) The coordinates of any transmitting array element i are written as:
the j coordinates of any receiving array element are written as:
in the formula, T xi For any x-axis coordinate of the transmitting array element i, T yi Y-axis coordinate, T, of any transmit array element i zi Z-axis coordinate, R, of arbitrary transmit array element i xj For any x-axis coordinate of the receiving array element j, R yj For any y-axis coordinate of the receiving array element j, R zj Is the z-axis coordinate of any receiving array element j, i is any transmitting array element, i is more than or equal to 1 and less than or equal to N, j is any receiving array element, and j is more than or equal to 1 and less than or equal to N;
s13, finally, taking a linear array ultrasonic phased array probe as a transmitting probe and taking a linear array ultrasonic phased array probe as a receiving probe to acquire full matrix data to obtain full matrix data S ij 。
3. The full-focusing imaging method based on the phased array probe for transmitting and receiving longitudinal waves according to claim 1, wherein S2 is used for calculating the sound propagation time based on the full-focusing image reconstruction of the phased array probe for transmitting and receiving longitudinal waves, and specifically comprises the following steps:
s21, during full-focus imaging, dividing a detected region into m multiplied by n imaging grid points by a two-dimensional plane x-0-z with the y axis of an imaging region being zero, wherein m represents the number of x-axis coordinate points of the imaging region, the interval between two points is dxp, n is the number of z-axis coordinate points of the imaging region, and the interval between two points is dzp;
s22, dividing the wedge block-workpiece interface into l × S grid points, wherein l represents the number of x-axis coordinate points of the wedge block-workpiece interface, the interval between two points is dxs, S represents the number of y-axis coordinate points of the wedge block-workpiece interface, and the interval between two points is dys;
s23, assuming that the incident points of the transmitting sound beam and the receiving sound beam of the longitudinal wave transmitting-receiving ultrasonic phased array probe at the wedge block-workpiece interface are (V) Txi ,V Tyi ,V Tzi ) The exit point is (V) Rxj ,V Ryj ,V Rzj ) For any point P (x, 0, z) in the imaging area, l × s grid points of the wedge-workpiece interface are set as an acoustic propagation incident point and an acoustic propagation emergent point, namely, a point (V) Txi ,V Tyi 0) and point (V) Rxj ,V Ryj 0) is an array of l × s, and the position coordinate of any transmitting array element i is (T) xi ,T yi ,T zi ) And the position coordinate of any receiving array element j is (R) xj ,R yj ,R zj ) And circularly calculating the sound propagation time for different incidence points to obtain a sound propagation time data set { t ils And circularly calculating sound propagation time for different emergence points to obtain a sound propagation time data set { t } jls }：
In the formula, V Txi X-axis coordinate, V, of incident point at wedge-workpiece interface for transmission of ith transmitting array element Tyi Is composed of
Y-axis coordinate, V, of incident point at wedge-workpiece interface emitted by ith emitting array element Rxj Is the x-axis coordinate, V, of the exit point at the wedge-workpiece interface of the jth receiving array element Ryj X-axis coordinate of exit point at wedge-workpiece interface of jth receiving array element, c 1 Is the sound velocity of the sound wave at the wedge, c 2 The sound velocity of the sound wave in the medium, x is the x-axis coordinate of any point P in the imaging area, and z is the z-axis coordinate of any point P in the imaging area;
taking the minimum value t in the formula (3) imin =min{t ils The actual sound propagation time of the ith transmitting array element transmitting to any point P (x, 0, z) of the imaging area is taken as the minimum value t in the formula (4) jmin =min{t jls The actual sound propagation time of any point P (x, 0, z) of the imaging area received by the jth receiving array element is multiplied by the j;
s24, circularly calculating time delay of each array element in the N array elements and m multiplied by N imaging grid points in the imaging area, and storing the result as a data set { t } in a three-dimensional matrix m multiplied by N multiplied by N form i (m, n) } and { t } j (m, n) }, the acoustic propagation time t of the jth array element transmitting and receiving of the ith array element of m × n imaging grid points in the imaging area ij (x, z) is:
in the formula, t i (m, n) represents the acoustic propagation time of the m multiplied by n imaging point grids of the imaging area emitted by the ith array element; t is t j (m, n) represents the acoustic propagation time of the m x n imaging point grids of the imaging region received by the jth array element.
4. The full-focusing imaging method based on the longitudinal wave transmit-receive ultrasonic phased array probe according to claim 3, characterized in that: in S3, the sound propagation time obtained by calculation according to S2 is used for full matrix data S ij And performing time delay superposition beam forming to obtain a full-focus imaging result based on a longitudinal wave transmitting-receiving ultrasonic phased array probe, which specifically comprises the following steps:
acoustic propagation time t calculated by using the design in S2 ij (x, z) pairs of the acquired full matrix data S ij And performing delay superposition to obtain the amplitudes I (x, z) of all grid points in the imaging region, and realizing full-focus imaging based on the longitudinal wave transmitting-receiving ultrasonic phased array probe.
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